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-rw-r--r--modules/bullet/bullet_types_converter.cpp11
-rw-r--r--modules/bullet/bullet_types_converter.h1
-rw-r--r--modules/bullet/collision_object_bullet.cpp22
-rw-r--r--modules/bullet/collision_object_bullet.h1
-rw-r--r--modules/bullet/rigid_body_bullet.cpp39
-rw-r--r--modules/bullet/shape_bullet.cpp55
-rw-r--r--modules/bullet/shape_bullet.h20
-rw-r--r--modules/bullet/space_bullet.cpp235
-rw-r--r--modules/bullet/space_bullet.h13
9 files changed, 223 insertions, 174 deletions
diff --git a/modules/bullet/bullet_types_converter.cpp b/modules/bullet/bullet_types_converter.cpp
index 03247a91ca..42a6f156a5 100644
--- a/modules/bullet/bullet_types_converter.cpp
+++ b/modules/bullet/bullet_types_converter.cpp
@@ -92,3 +92,14 @@ void G_TO_B(Transform const &inVal, btTransform &outVal) {
G_TO_B(inVal.basis, outVal.getBasis());
G_TO_B(inVal.origin, outVal.getOrigin());
}
+
+void UNSCALE_BT_BASIS(btTransform &scaledBasis) {
+ btMatrix3x3 &m(scaledBasis.getBasis());
+ btVector3 column0(m[0][0], m[1][0], m[2][0]);
+ btVector3 column1(m[0][1], m[1][1], m[2][1]);
+ btVector3 column2(m[0][2], m[1][2], m[2][2]);
+ column0.normalize();
+ column1.normalize();
+ column2.normalize();
+ m.setValue(column0[0], column1[0], column2[0], column0[1], column1[1], column2[1], column0[2], column1[2], column2[2]);
+}
diff --git a/modules/bullet/bullet_types_converter.h b/modules/bullet/bullet_types_converter.h
index 5fa30c1d74..349cad65aa 100644
--- a/modules/bullet/bullet_types_converter.h
+++ b/modules/bullet/bullet_types_converter.h
@@ -54,4 +54,5 @@ extern void G_TO_B(Basis const &inVal, btMatrix3x3 &outVal);
extern void INVERT_G_TO_B(Basis const &inVal, btMatrix3x3 &outVal);
extern void G_TO_B(Transform const &inVal, btTransform &outVal);
+extern void UNSCALE_BT_BASIS(btTransform &scaledBasis);
#endif
diff --git a/modules/bullet/collision_object_bullet.cpp b/modules/bullet/collision_object_bullet.cpp
index 70d604fa70..1350be20b6 100644
--- a/modules/bullet/collision_object_bullet.cpp
+++ b/modules/bullet/collision_object_bullet.cpp
@@ -57,7 +57,8 @@ CollisionObjectBullet::CollisionObjectBullet(Type p_type) :
collisionsEnabled(true),
m_isStatic(false),
bt_collision_object(NULL),
- body_scale(1., 1., 1.) {}
+ body_scale(1., 1., 1.),
+ force_shape_reset(false) {}
CollisionObjectBullet::~CollisionObjectBullet() {
// Remove all overlapping
@@ -88,6 +89,7 @@ btVector3 CollisionObjectBullet::get_bt_body_scale() const {
}
void CollisionObjectBullet::on_body_scale_changed() {
+ force_shape_reset = true;
}
void CollisionObjectBullet::destroyBulletCollisionObject() {
@@ -289,15 +291,27 @@ void RigidCollisionObjectBullet::on_shape_changed(const ShapeBullet *const p_sha
void RigidCollisionObjectBullet::on_shapes_changed() {
int i;
+
// Remove all shapes, reverse order for performance reason (Array resize)
for (i = compoundShape->getNumChildShapes() - 1; 0 <= i; --i) {
compoundShape->removeChildShapeByIndex(i);
}
- // Insert all shapes
ShapeWrapper *shpWrapper;
- const int size = shapes.size();
- for (i = 0; i < size; ++i) {
+ const int shapes_size = shapes.size();
+
+ // Reset shape if required
+ if (force_shape_reset) {
+ for (i = 0; i < shapes_size; ++i) {
+ shpWrapper = &shapes[i];
+ bulletdelete(shpWrapper->bt_shape);
+ }
+ force_shape_reset = false;
+ }
+
+ // Insert all shapes
+
+ for (i = 0; i < shapes_size; ++i) {
shpWrapper = &shapes[i];
if (shpWrapper->active) {
if (!shpWrapper->bt_shape) {
diff --git a/modules/bullet/collision_object_bullet.h b/modules/bullet/collision_object_bullet.h
index 4168133e0d..6a3fbe65ff 100644
--- a/modules/bullet/collision_object_bullet.h
+++ b/modules/bullet/collision_object_bullet.h
@@ -115,6 +115,7 @@ protected:
bool ray_pickable;
btCollisionObject *bt_collision_object;
Vector3 body_scale;
+ bool force_shape_reset;
SpaceBullet *space;
VSet<RID> exceptions;
diff --git a/modules/bullet/rigid_body_bullet.cpp b/modules/bullet/rigid_body_bullet.cpp
index e7342e2ae8..c183b012ab 100644
--- a/modules/bullet/rigid_body_bullet.cpp
+++ b/modules/bullet/rigid_body_bullet.cpp
@@ -205,41 +205,20 @@ void RigidBodyBullet::KinematicUtilities::copyAllOwnerShapes() {
if (!shape_wrapper->active) {
continue;
}
- shapes[i].transform = shape_wrapper->transform;
-
- btConvexShape *&kin_shape_ref = shapes[i].shape;
+ shapes[i].transform = shape_wrapper->transform;
+ shapes[i].transform.getOrigin() *= owner_body_scale;
switch (shape_wrapper->shape->get_type()) {
- case PhysicsServer::SHAPE_SPHERE: {
- SphereShapeBullet *sphere = static_cast<SphereShapeBullet *>(shape_wrapper->shape);
- kin_shape_ref = ShapeBullet::create_shape_sphere(sphere->get_radius() * owner_body_scale[0] + safe_margin);
- break;
- }
- case PhysicsServer::SHAPE_BOX: {
- BoxShapeBullet *box = static_cast<BoxShapeBullet *>(shape_wrapper->shape);
- kin_shape_ref = ShapeBullet::create_shape_box((box->get_half_extents() * owner_body_scale) + btVector3(safe_margin, safe_margin, safe_margin));
- break;
- }
- case PhysicsServer::SHAPE_CAPSULE: {
- CapsuleShapeBullet *capsule = static_cast<CapsuleShapeBullet *>(shape_wrapper->shape);
-
- kin_shape_ref = ShapeBullet::create_shape_capsule(capsule->get_radius() * owner_body_scale[0] + safe_margin, capsule->get_height() * owner_body_scale[1] + safe_margin);
- break;
- }
- case PhysicsServer::SHAPE_CONVEX_POLYGON: {
- ConvexPolygonShapeBullet *godot_convex = static_cast<ConvexPolygonShapeBullet *>(shape_wrapper->shape);
- kin_shape_ref = ShapeBullet::create_shape_convex(godot_convex->vertices);
- kin_shape_ref->setLocalScaling(owner_body_scale + btVector3(safe_margin, safe_margin, safe_margin));
- break;
- }
+ case PhysicsServer::SHAPE_SPHERE:
+ case PhysicsServer::SHAPE_BOX:
+ case PhysicsServer::SHAPE_CAPSULE:
+ case PhysicsServer::SHAPE_CONVEX_POLYGON:
case PhysicsServer::SHAPE_RAY: {
- RayShapeBullet *godot_ray = static_cast<RayShapeBullet *>(shape_wrapper->shape);
- kin_shape_ref = ShapeBullet::create_shape_ray(godot_ray->length * owner_body_scale[1] + safe_margin);
- break;
- }
+ shapes[i].shape = static_cast<btConvexShape *>(shape_wrapper->shape->create_bt_shape(owner_body_scale, safe_margin));
+ } break;
default:
WARN_PRINT("This shape is not supported to be kinematic!");
- kin_shape_ref = NULL;
+ shapes[i].shape = NULL;
}
}
}
diff --git a/modules/bullet/shape_bullet.cpp b/modules/bullet/shape_bullet.cpp
index 55cc742f0a..d5a89e39e2 100644
--- a/modules/bullet/shape_bullet.cpp
+++ b/modules/bullet/shape_bullet.cpp
@@ -43,6 +43,17 @@ ShapeBullet::ShapeBullet() {}
ShapeBullet::~ShapeBullet() {}
+btCollisionShape *ShapeBullet::create_bt_shape() {
+ btVector3 s(1, 1, 1);
+ return create_bt_shape(s);
+}
+
+btCollisionShape *ShapeBullet::create_bt_shape(const Vector3 &p_implicit_scale, real_t p_margin) {
+ btVector3 s;
+ G_TO_B(p_implicit_scale, s);
+ return create_bt_shape(s, p_margin);
+}
+
btCollisionShape *ShapeBullet::prepare(btCollisionShape *p_btShape) const {
p_btShape->setUserPointer(const_cast<ShapeBullet *>(this));
p_btShape->setMargin(0.);
@@ -150,7 +161,7 @@ void PlaneShapeBullet::setup(const Plane &p_plane) {
notifyShapeChanged();
}
-btCollisionShape *PlaneShapeBullet::create_bt_shape() {
+btCollisionShape *PlaneShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
btVector3 btPlaneNormal;
G_TO_B(plane.normal, btPlaneNormal);
return prepare(PlaneShapeBullet::create_shape_plane(btPlaneNormal, plane.d));
@@ -178,8 +189,8 @@ void SphereShapeBullet::setup(real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *SphereShapeBullet::create_bt_shape() {
- return prepare(ShapeBullet::create_shape_sphere(radius));
+btCollisionShape *SphereShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+ return prepare(ShapeBullet::create_shape_sphere(radius * p_implicit_scale[0] + p_margin));
}
/* Box */
@@ -205,8 +216,8 @@ void BoxShapeBullet::setup(const Vector3 &p_half_extents) {
notifyShapeChanged();
}
-btCollisionShape *BoxShapeBullet::create_bt_shape() {
- return prepare(ShapeBullet::create_shape_box(half_extents));
+btCollisionShape *BoxShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+ return prepare(ShapeBullet::create_shape_box((half_extents * p_implicit_scale) + btVector3(p_margin, p_margin, p_margin)));
}
/* Capsule */
@@ -238,8 +249,8 @@ void CapsuleShapeBullet::setup(real_t p_height, real_t p_radius) {
notifyShapeChanged();
}
-btCollisionShape *CapsuleShapeBullet::create_bt_shape() {
- return prepare(ShapeBullet::create_shape_capsule(radius, height));
+btCollisionShape *CapsuleShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+ return prepare(ShapeBullet::create_shape_capsule(radius * p_implicit_scale[0] + p_margin, height * p_implicit_scale[1] + p_margin));
}
/* Convex polygon */
@@ -280,8 +291,12 @@ void ConvexPolygonShapeBullet::setup(const Vector<Vector3> &p_vertices) {
notifyShapeChanged();
}
-btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape() {
- return prepare(ShapeBullet::create_shape_convex(vertices));
+btCollisionShape *ConvexPolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+ btCollisionShape *cs(ShapeBullet::create_shape_convex(vertices));
+ cs->setLocalScaling(p_implicit_scale);
+ prepare(cs);
+ cs->setMargin(p_margin);
+ return cs;
}
/* Concave polygon */
@@ -349,13 +364,15 @@ void ConcavePolygonShapeBullet::setup(PoolVector<Vector3> p_faces) {
notifyShapeChanged();
}
-btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape() {
+btCollisionShape *ConcavePolygonShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
btCollisionShape *cs = ShapeBullet::create_shape_concave(meshShape);
- if (!cs) {
+ if (!cs)
// This is necessary since if 0 faces the creation of concave return NULL
cs = ShapeBullet::create_shape_empty();
- }
- return prepare(cs);
+ cs->setLocalScaling(p_implicit_scale);
+ prepare(cs);
+ cs->setMargin(p_margin);
+ return cs;
}
/* Height map shape */
@@ -407,8 +424,12 @@ void HeightMapShapeBullet::setup(PoolVector<real_t> &p_heights, int p_width, int
notifyShapeChanged();
}
-btCollisionShape *HeightMapShapeBullet::create_bt_shape() {
- return prepare(ShapeBullet::create_shape_height_field(heights, width, depth, cell_size));
+btCollisionShape *HeightMapShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+ btCollisionShape *cs(ShapeBullet::create_shape_height_field(heights, width, depth, cell_size));
+ cs->setLocalScaling(p_implicit_scale);
+ prepare(cs);
+ cs->setMargin(p_margin);
+ return cs;
}
/* Ray shape */
@@ -433,6 +454,6 @@ void RayShapeBullet::setup(real_t p_length) {
notifyShapeChanged();
}
-btCollisionShape *RayShapeBullet::create_bt_shape() {
- return prepare(ShapeBullet::create_shape_ray(length));
+btCollisionShape *RayShapeBullet::create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin) {
+ return prepare(ShapeBullet::create_shape_ray(length * p_implicit_scale[1] + p_margin));
}
diff --git a/modules/bullet/shape_bullet.h b/modules/bullet/shape_bullet.h
index fa12e95efc..a9782a9333 100644
--- a/modules/bullet/shape_bullet.h
+++ b/modules/bullet/shape_bullet.h
@@ -58,7 +58,9 @@ public:
ShapeBullet();
virtual ~ShapeBullet();
- virtual btCollisionShape *create_bt_shape() = 0;
+ btCollisionShape *create_bt_shape();
+ btCollisionShape *create_bt_shape(const Vector3 &p_implicit_scale, real_t p_margin = 0);
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_implicit_scale, real_t p_margin = 0) = 0;
void add_owner(ShapeOwnerBullet *p_owner);
void remove_owner(ShapeOwnerBullet *p_owner, bool p_permanentlyFromThisBody = false);
@@ -94,7 +96,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape();
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
private:
void setup(const Plane &p_plane);
@@ -111,7 +113,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape();
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
private:
void setup(real_t p_radius);
@@ -128,7 +130,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape();
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
private:
void setup(const Vector3 &p_half_extents);
@@ -147,7 +149,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape();
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
private:
void setup(real_t p_height, real_t p_radius);
@@ -164,7 +166,7 @@ public:
void get_vertices(Vector<Vector3> &out_vertices);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape();
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
private:
void setup(const Vector<Vector3> &p_vertices);
@@ -182,7 +184,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape();
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
private:
void setup(PoolVector<Vector3> p_faces);
@@ -201,7 +203,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape();
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
private:
void setup(PoolVector<real_t> &p_heights, int p_width, int p_depth, real_t p_cell_size);
@@ -217,7 +219,7 @@ public:
virtual void set_data(const Variant &p_data);
virtual Variant get_data() const;
virtual PhysicsServer::ShapeType get_type() const;
- virtual btCollisionShape *create_bt_shape();
+ virtual btCollisionShape *create_bt_shape(const btVector3 &p_scale, real_t p_margin = 0);
private:
void setup(real_t p_length);
diff --git a/modules/bullet/space_bullet.cpp b/modules/bullet/space_bullet.cpp
index dc16d8402d..a67c627ba4 100644
--- a/modules/bullet/space_bullet.cpp
+++ b/modules/bullet/space_bullet.cpp
@@ -116,7 +116,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btCollisionShape *btShape = shape->create_bt_shape();
+ btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -124,12 +124,9 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
}
btConvexShape *btConvex = static_cast<btConvexShape *>(btShape);
- btVector3 scale_with_margin;
- G_TO_B(p_xform.basis.get_scale(), scale_with_margin);
- btConvex->setLocalScaling(scale_with_margin);
-
btTransform bt_xform;
G_TO_B(p_xform, bt_xform);
+ UNSCALE_BT_BASIS(bt_xform);
btCollisionObject collision_object;
collision_object.setCollisionShape(btConvex);
@@ -138,7 +135,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
GodotAllContactResultCallback btQuery(&collision_object, p_results, p_result_max, &p_exclude);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
- btQuery.m_closestDistanceThreshold = p_margin;
+ btQuery.m_closestDistanceThreshold = 0;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
bulletdelete(btConvex);
@@ -149,7 +146,7 @@ int BulletPhysicsDirectSpaceState::intersect_shape(const RID &p_shape, const Tra
bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, ShapeRestInfo *r_info) {
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btCollisionShape *btShape = shape->create_bt_shape();
+ btCollisionShape *btShape = shape->create_bt_shape(p_xform.basis.get_scale(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -160,12 +157,9 @@ bool BulletPhysicsDirectSpaceState::cast_motion(const RID &p_shape, const Transf
btVector3 bt_motion;
G_TO_B(p_motion, bt_motion);
- btVector3 scale_with_margin;
- G_TO_B(p_xform.basis.get_scale() + Vector3(p_margin, p_margin, p_margin), scale_with_margin);
- bt_convex_shape->setLocalScaling(scale_with_margin);
-
btTransform bt_xform_from;
G_TO_B(p_xform, bt_xform_from);
+ UNSCALE_BT_BASIS(bt_xform_from);
btTransform bt_xform_to(bt_xform_from);
bt_xform_to.getOrigin() += bt_motion;
@@ -202,7 +196,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btCollisionShape *btShape = shape->create_bt_shape();
+ btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -210,12 +204,9 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
}
btConvexShape *btConvex = static_cast<btConvexShape *>(btShape);
- btVector3 scale_with_margin;
- G_TO_B(p_shape_xform.basis.get_scale(), scale_with_margin);
- btConvex->setLocalScaling(scale_with_margin);
-
btTransform bt_xform;
G_TO_B(p_shape_xform, bt_xform);
+ UNSCALE_BT_BASIS(bt_xform);
btCollisionObject collision_object;
collision_object.setCollisionShape(btConvex);
@@ -224,7 +215,7 @@ bool BulletPhysicsDirectSpaceState::collide_shape(RID p_shape, const Transform &
GodotContactPairContactResultCallback btQuery(&collision_object, r_results, p_result_max, &p_exclude);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
- btQuery.m_closestDistanceThreshold = p_margin;
+ btQuery.m_closestDistanceThreshold = 0;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
r_result_count = btQuery.m_count;
@@ -237,7 +228,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
ShapeBullet *shape = space->get_physics_server()->get_shape_owner()->get(p_shape);
- btCollisionShape *btShape = shape->create_bt_shape();
+ btCollisionShape *btShape = shape->create_bt_shape(p_shape_xform.basis.get_scale(), p_margin);
if (!btShape->isConvex()) {
bulletdelete(btShape);
ERR_PRINTS("The shape is not a convex shape, then is not supported: shape type: " + itos(shape->get_type()));
@@ -245,12 +236,9 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
}
btConvexShape *btConvex = static_cast<btConvexShape *>(btShape);
- btVector3 scale_with_margin;
- G_TO_B(p_shape_xform.basis.get_scale() + Vector3(p_margin, p_margin, p_margin), scale_with_margin);
- btConvex->setLocalScaling(scale_with_margin);
-
btTransform bt_xform;
G_TO_B(p_shape_xform, bt_xform);
+ UNSCALE_BT_BASIS(bt_xform);
btCollisionObject collision_object;
collision_object.setCollisionShape(btConvex);
@@ -259,7 +247,7 @@ bool BulletPhysicsDirectSpaceState::rest_info(RID p_shape, const Transform &p_sh
GodotRestInfoContactResultCallback btQuery(&collision_object, r_info, &p_exclude);
btQuery.m_collisionFilterGroup = 0;
btQuery.m_collisionFilterMask = p_collision_mask;
- btQuery.m_closestDistanceThreshold = p_margin;
+ btQuery.m_closestDistanceThreshold = 0;
space->dynamicsWorld->contactTest(&collision_object, btQuery);
bulletdelete(btConvex);
@@ -796,7 +784,9 @@ void SpaceBullet::update_gravity() {
/// I'm leaving this here just for future tests.
/// Debug motion and normal vector drawing
#define debug_test_motion 0
-#define PERFORM_INITIAL_UNSTACK 1
+#define PERFORM_INITIAL_UNSTACK 0
+#define RECOVERING_MOVEMENT_SCALE 0.4
+#define RECOVERING_MOVEMENT_CYCLES 4
#if debug_test_motion
@@ -820,6 +810,9 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
SceneTree::get_singleton()->get_current_scene()->add_child(motionVec);
SceneTree::get_singleton()->get_current_scene()->add_child(normalLine);
+ motionVec->set_as_toplevel(true);
+ normalLine->set_as_toplevel(true);
+
red_mat = Ref<SpatialMaterial>(memnew(SpatialMaterial));
red_mat->set_flag(SpatialMaterial::FLAG_UNSHADED, true);
red_mat->set_line_width(20.0);
@@ -850,20 +843,24 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
// }
//}
- btVector3 recover_initial_position(0, 0, 0);
-
btTransform body_safe_position;
G_TO_B(p_from, body_safe_position);
+ UNSCALE_BT_BASIS(body_safe_position);
- { /// Phase one - multi shapes depenetration using margin
#if PERFORM_INITIAL_UNSTACK
- if (recover_from_penetration(p_body, body_safe_position, recover_initial_position)) {
+ btVector3 recover_initial_position(0, 0, 0);
+ { /// Phase one - multi shapes depenetration using margin
+ for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
+ if (recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, recover_initial_position)) {
- // Add recover position to "From" and "To" transforms
- body_safe_position.getOrigin() += recover_initial_position;
+ // Add recover position to "From" and "To" transforms
+ body_safe_position.getOrigin() += recover_initial_position;
+ } else {
+ break;
+ }
}
-#endif
}
+#endif
btVector3 recovered_motion;
G_TO_B(p_motion, recovered_motion);
@@ -872,13 +869,13 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
{ /// phase two - sweep test, from a secure position without margin
#if debug_test_motion
- Vector3 sup_line;
- B_TO_G(body_safe_position.getOrigin(), sup_line);
- motionVec->clear();
- motionVec->begin(Mesh::PRIMITIVE_LINES, NULL);
- motionVec->add_vertex(sup_line);
- motionVec->add_vertex(sup_line + p_motion * 10);
- motionVec->end();
+//Vector3 sup_line;
+//B_TO_G(body_safe_position.getOrigin(), sup_line);
+//motionVec->clear();
+//motionVec->begin(Mesh::PRIMITIVE_LINES, NULL);
+//motionVec->add_vertex(sup_line);
+//motionVec->add_vertex(sup_line + p_motion * 10);
+//motionVec->end();
#endif
for (int shIndex = 0; shIndex < shape_count; ++shIndex) {
@@ -892,11 +889,7 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
btConvexShape *convex_shape_test(static_cast<btConvexShape *>(p_body->get_bt_shape(shIndex)));
- btTransform shape_world_from;
- G_TO_B(p_body->get_shape_transform(shIndex), shape_world_from);
-
- // Add local shape transform
- shape_world_from = body_safe_position * shape_world_from;
+ btTransform shape_world_from = body_safe_position * p_body->get_kinematic_utilities()->shapes[shIndex].transform;
btTransform shape_world_to(shape_world_from);
shape_world_to.getOrigin() += recovered_motion;
@@ -915,59 +908,75 @@ bool SpaceBullet::test_body_motion(RigidBodyBullet *p_body, const Transform &p_f
}
}
- bool hasPenetration = false;
+ bool has_penetration = false;
{ /// Phase three - Recover + contact test with margin
RecoverResult r_recover_result;
+ bool l_has_penetration;
+ real_t l_penetration_distance = 1e20;
- hasPenetration = recover_from_penetration(p_body, body_safe_position, recovered_motion, &r_recover_result);
+ for (int t(RECOVERING_MOVEMENT_CYCLES); 0 < t; --t) {
+ l_has_penetration = recover_from_penetration(p_body, body_safe_position, RECOVERING_MOVEMENT_SCALE, recovered_motion, &r_recover_result);
- if (r_result) {
-
- B_TO_G(recovered_motion + recover_initial_position, r_result->motion);
-
- if (hasPenetration) {
- const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
- CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
-
- r_result->remainder = p_motion - r_result->motion; // is the remaining movements
- B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
- B_TO_G(r_recover_result.pointNormalWorld, r_result->collision_normal);
- B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
- r_result->collider = collisionObject->get_self();
- r_result->collider_id = collisionObject->get_instance_id();
- r_result->collider_shape = r_recover_result.other_compound_shape_index;
- r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
+ if (r_result) {
+#if PERFORM_INITIAL_UNSTACK
+ B_TO_G(recovered_motion + recover_initial_position, r_result->motion);
+#else
+ B_TO_G(recovered_motion, r_result->motion);
+#endif
+ if (l_has_penetration) {
+ has_penetration = true;
+ if (l_penetration_distance <= r_recover_result.penetration_distance) {
+ continue;
+ }
- //{ /// Add manifold point to manage collisions
- // btPersistentManifold* manifold = dynamicsWorld->getDispatcher()->getNewManifold(p_body->getBtBody(), btRigid);
- // btManifoldPoint manifoldPoint(result_callabck.m_pointWorld, result_callabck.m_pointWorld, result_callabck.m_pointNormalWorld, result_callabck.m_penetration_distance);
- // manifoldPoint.m_index0 = r_result->collision_local_shape;
- // manifoldPoint.m_index1 = r_result->collider_shape;
- // manifold->addManifoldPoint(manifoldPoint);
- // p_body->get_kinematic_utilities()->m_generatedManifold.push_back(manifold);
- //}
+ l_penetration_distance = r_recover_result.penetration_distance;
+
+ const btRigidBody *btRigid = static_cast<const btRigidBody *>(r_recover_result.other_collision_object);
+ CollisionObjectBullet *collisionObject = static_cast<CollisionObjectBullet *>(btRigid->getUserPointer());
+
+ r_result->remainder = p_motion - r_result->motion; // is the remaining movements
+ B_TO_G(r_recover_result.pointWorld, r_result->collision_point);
+ B_TO_G(r_recover_result.normal, r_result->collision_normal);
+ B_TO_G(btRigid->getVelocityInLocalPoint(r_recover_result.pointWorld - btRigid->getWorldTransform().getOrigin()), r_result->collider_velocity); // It calculates velocity at point and assign it using special function Bullet_to_Godot
+ r_result->collider = collisionObject->get_self();
+ r_result->collider_id = collisionObject->get_instance_id();
+ r_result->collider_shape = r_recover_result.other_compound_shape_index;
+ r_result->collision_local_shape = r_recover_result.local_shape_most_recovered;
+
+ //{ /// Add manifold point to manage collisions
+ // btPersistentManifold* manifold = dynamicsWorld->getDispatcher()->getNewManifold(p_body->getBtBody(), btRigid);
+ // btManifoldPoint manifoldPoint(result_callabck.m_pointWorld, result_callabck.m_pointWorld, result_callabck.m_pointNormalWorld, result_callabck.m_penetration_distance);
+ // manifoldPoint.m_index0 = r_result->collision_local_shape;
+ // manifoldPoint.m_index1 = r_result->collider_shape;
+ // manifold->addManifoldPoint(manifoldPoint);
+ // p_body->get_kinematic_utilities()->m_generatedManifold.push_back(manifold);
+ //}
#if debug_test_motion
- Vector3 sup_line2;
- B_TO_G(recovered_motion, sup_line2);
- //Vector3 sup_pos;
- //B_TO_G( pt.getPositionWorldOnB(), sup_pos);
- normalLine->clear();
- normalLine->begin(Mesh::PRIMITIVE_LINES, NULL);
- normalLine->add_vertex(r_result->collision_point);
- normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10);
- normalLine->end();
+//Vector3 sup_line2;
+//B_TO_G(recovered_motion, sup_line2);
+////Vector3 sup_pos;
+////B_TO_G( pt.getPositionWorldOnB(), sup_pos);
+//normalLine->clear();
+//normalLine->begin(Mesh::PRIMITIVE_LINES, NULL);
+//normalLine->add_vertex(r_result->collision_point);
+//normalLine->add_vertex(r_result->collision_point + r_result->collision_normal * 10);
+//normalLine->end();
#endif
+ } else {
+ r_result->remainder = Vector3();
+ }
} else {
- r_result->remainder = Vector3();
+ if (!l_has_penetration)
+ break;
}
}
}
- return hasPenetration;
+ return has_penetration;
}
struct RecoverPenetrationBroadPhaseCallback : public btBroadphaseAabbCallback {
@@ -1004,7 +1013,7 @@ public:
}
};
-bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
+bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_body_position, btScalar p_recover_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
RecoverPenetrationBroadPhaseCallback recover_broad_result(p_body->get_bt_collision_object(), p_body->get_collision_layer(), p_body->get_collision_mask());
@@ -1045,24 +1054,24 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
for (int x = cs->getNumChildShapes() - 1; 0 <= x; --x) {
if (cs->getChildShape(x)->isConvex()) {
- if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), otherObject, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), r_recover_position, r_recover_result)) {
+ if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(cs->getChildShape(x)), otherObject, x, body_shape_position_recovered, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_recover_position, r_recover_result)) {
penetration = true;
}
} else {
- if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position, otherObject->getWorldTransform() * cs->getChildTransform(x), r_recover_position, r_recover_result)) {
+ if (RFP_convex_world_test(kin_shape.shape, cs->getChildShape(x), p_body->get_bt_collision_object(), otherObject, kinIndex, x, body_shape_position_recovered, otherObject->getWorldTransform() * cs->getChildTransform(x), p_recover_movement_scale, r_recover_position, r_recover_result)) {
penetration = true;
}
}
}
} else if (otherObject->getCollisionShape()->isConvex()) { /// Execute GJK test against object shape
- if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, body_shape_position, otherObject->getWorldTransform(), r_recover_position, r_recover_result)) {
+ if (RFP_convex_convex_test(kin_shape.shape, static_cast<const btConvexShape *>(otherObject->getCollisionShape()), otherObject, 0, body_shape_position_recovered, otherObject->getWorldTransform(), p_recover_movement_scale, r_recover_position, r_recover_result)) {
penetration = true;
}
} else {
- if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, body_shape_position, otherObject->getWorldTransform(), r_recover_position, r_recover_result)) {
+ if (RFP_convex_world_test(kin_shape.shape, otherObject->getCollisionShape(), p_body->get_bt_collision_object(), otherObject, kinIndex, 0, body_shape_position_recovered, otherObject->getWorldTransform(), p_recover_movement_scale, r_recover_position, r_recover_result)) {
penetration = true;
}
@@ -1070,15 +1079,26 @@ bool SpaceBullet::recover_from_penetration(RigidBodyBullet *p_body, const btTran
}
}
+#if debug_test_motion
+ Vector3 pos;
+ B_TO_G(p_body_position.getOrigin(), pos);
+ Vector3 sup_line;
+ B_TO_G(sum_recover_normals, sup_line);
+ motionVec->clear();
+ motionVec->begin(Mesh::PRIMITIVE_LINES, NULL);
+ motionVec->add_vertex(pos);
+ motionVec->add_vertex(pos + (sup_line * 10));
+ motionVec->end();
+#endif
+
return penetration;
}
-bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
+bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
// Initialize GJK input
btGjkPairDetector::ClosestPointInput gjk_input;
gjk_input.m_transformA = p_transformA;
- gjk_input.m_transformA.getOrigin() += r_recover_position;
gjk_input.m_transformB = p_transformB;
// Perform GJK test
@@ -1087,30 +1107,28 @@ bool SpaceBullet::RFP_convex_convex_test(const btConvexShape *p_shapeA, const bt
gjk_pair_detector.getClosestPoints(gjk_input, result, 0);
if (0 > result.m_distance) {
// Has penetration
- r_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1);
+ r_recover_position += result.m_normalOnBInWorld * (result.m_distance * -1 * p_recover_movement_scale);
if (r_recover_result) {
-
- r_recover_result->hasPenetration = true;
- r_recover_result->other_collision_object = p_objectB;
- r_recover_result->other_compound_shape_index = p_shapeId_B;
- r_recover_result->penetration_distance = result.m_distance;
- r_recover_result->pointNormalWorld = result.m_normalOnBInWorld;
- r_recover_result->pointWorld = result.m_pointInWorld;
+ if (result.m_distance < r_recover_result->penetration_distance) {
+ r_recover_result->hasPenetration = true;
+ r_recover_result->other_collision_object = p_objectB;
+ r_recover_result->other_compound_shape_index = p_shapeId_B;
+ r_recover_result->penetration_distance = result.m_distance;
+ r_recover_result->pointWorld = result.m_pointInWorld;
+ r_recover_result->normal = result.m_normalOnBInWorld;
+ }
}
return true;
}
return false;
}
-bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
+bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_recover_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result) {
/// Contact test
- btTransform p_recovered_transformA(p_transformA);
- p_recovered_transformA.getOrigin() += r_recover_position;
-
- btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, p_recovered_transformA, -1, p_shapeId_A);
+ btCollisionObjectWrapper obA(NULL, p_shapeA, p_objectA, p_transformA, -1, p_shapeId_A);
btCollisionObjectWrapper obB(NULL, p_shapeB, p_objectB, p_transformB, -1, p_shapeId_B);
btCollisionAlgorithm *algorithm = dispatcher->findAlgorithm(&obA, &obB, NULL, BT_CLOSEST_POINT_ALGORITHMS);
@@ -1123,16 +1141,17 @@ bool SpaceBullet::RFP_convex_world_test(const btConvexShape *p_shapeA, const btC
dispatcher->freeCollisionAlgorithm(algorithm);
if (contactPointResult.hasHit()) {
- r_recover_position += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1);
+ r_recover_position += contactPointResult.m_pointNormalWorld * (contactPointResult.m_penetration_distance * -1 * p_recover_movement_scale);
if (r_recover_result) {
-
- r_recover_result->hasPenetration = true;
- r_recover_result->other_collision_object = p_objectB;
- r_recover_result->other_compound_shape_index = p_shapeId_B;
- r_recover_result->penetration_distance = contactPointResult.m_penetration_distance;
- r_recover_result->pointNormalWorld = contactPointResult.m_pointNormalWorld;
- r_recover_result->pointWorld = contactPointResult.m_pointWorld;
+ if (contactPointResult.m_penetration_distance < r_recover_result->penetration_distance) {
+ r_recover_result->hasPenetration = true;
+ r_recover_result->other_collision_object = p_objectB;
+ r_recover_result->other_compound_shape_index = p_shapeId_B;
+ r_recover_result->penetration_distance = contactPointResult.m_penetration_distance;
+ r_recover_result->pointWorld = contactPointResult.m_pointWorld;
+ r_recover_result->normal = contactPointResult.m_pointNormalWorld;
+ }
}
return true;
}
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h
index 6e71a25773..69ea2fcc58 100644
--- a/modules/bullet/space_bullet.h
+++ b/modules/bullet/space_bullet.h
@@ -178,23 +178,24 @@ private:
struct RecoverResult {
bool hasPenetration;
- btVector3 pointNormalWorld;
+ btVector3 normal;
btVector3 pointWorld;
- btScalar penetration_distance; // Negative is penetration
+ btScalar penetration_distance; // Negative mean penetration
int other_compound_shape_index;
const btCollisionObject *other_collision_object;
int local_shape_most_recovered;
RecoverResult() :
- hasPenetration(false) {}
+ hasPenetration(false),
+ penetration_distance(1e20) {}
};
- bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL);
+ bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btScalar p_recover_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL);
/// This is an API that recover a kinematic object from penetration
/// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions
- bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result);
+ bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL);
/// This is an API that recover a kinematic object from penetration
/// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm
- bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result);
+ bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btScalar p_movement_scale, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL);
};
#endif
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-29 14:56:57 +0000